Gazebo Rendering

API Reference

6.6.3
Ogre2BoundingBoxCamera Class Reference

BoundingBox camera used to detect 2d / 3d bounding boxes of labeled objects in the scene. More...

#include <Ogre2BoundingBoxCamera.hh>

Public Member Functions

virtual ~Ogre2BoundingBoxCamera ()
 Destructor. More...
 
virtual const std::vector< BoundingBox > & BoundingBoxData () const override
 Get the BoundingBox data. More...
 
void BoundingBoxes3D ()
 Compute the 3D bounding boxes. More...
 
virtual ignition::common::ConnectionPtr ConnectNewBoundingBoxes (std::function< void(const std::vector< BoundingBox > &)>) override
 Connect to the new BoundingBox info. More...
 
void ConvertToScreenCoord (Ogre::Vector3 &_minVertex, Ogre::Vector3 &_maxVertex) const
 Convert from clip coord (after projection) to screen coord. More...
 
void CreateBoundingBoxTexture ()
 Create texture to hold ogre Ids to calculate the boundaries of each ogre id mask. More...
 
void CreateRenderTexture ()
 Create dummy render texture. Needed to satisfy inheritance and to set image's dims. More...
 
virtual void Destroy () override
 Destroy the camera. More...
 
virtual void DrawBoundingBox (unsigned char *_data, const math::Color &_color, const BoundingBox &_box) const override
 Draw a bounding box on the given image. More...
 
void DrawLine (unsigned char *_data, const math::Vector2i &_point1, const math::Vector2i &_point2, const ignition::math::Color &_color) const
 Draw line between any 2 points in the image data buffer Algorithm: https://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm. More...
 
void FullBoundingBoxes ()
 Compute the full bounding boxes by projecting all mesh vertices of each object, then get the min & max of x & y to get the full bbox. Check the visibility by looping over pixels of the ogre Ids map. More...
 
virtual void Init () override
 Initialize the camera. More...
 
void MarkVisibleBoxes ()
 Mark the visible boxes by checking the ogre ids map and mark the ogre id which appears in the map. More...
 
void MeshMinimalBox (const Ogre::MeshPtr _mesh, const Ogre::Matrix4 &_viewMatrix, const Ogre::Matrix4 &_projMatrix, Ogre::Vector3 &_minVertex, Ogre::Vector3 &_maxVertex, const Ogre::Vector3 &_position, const Ogre::Quaternion &_orientation, const Ogre::Vector3 &_scale)
 Get minimal bounding box of the mesh by projecting the 3d vertices of the vertex buffer to 2d, then get the min & max of x & y. More...
 
virtual void PostRender () override
 Preforms any necessary final rendering work. Once rendering is complete the camera will alert any listeners of the new frame event. This function should only be called after a call to Render has successfully been executed. More...
 
virtual void PreRender () override
 Prepare this object and any of its children for rendering. This should be called for each object in a scene just before rendering, which can be achieved by a single call to Scene::PreRender. More...
 
virtual void Render () override
 Renders the current scene using this camera. This function assumes PreRender() has already been called on the parent Scene, allowing the camera and the scene itself to prepare for rendering. More...
 
virtual void SetBoundingBoxType (BoundingBoxType _type) override
 Set BoundingBox Type (Visible / Full) More...
 
virtual BoundingBoxType Type () const override
 Get the BoundingBox Type (Visible / Full) More...
 
void VisibleBoundingBoxes ()
 Compute the visible bounding boxes by looping over pixels of the ogre Ids map, to get the boundaries of each unique ogre Id mask. More...
 
- Public Member Functions inherited from BaseBoundingBoxCamera< Ogre2Sensor >
virtual ~BaseBoundingBoxCamera ()
 Destructor. More...
 
virtual const std::vector< BoundingBox > & BoundingBoxData () const
 Get the BoundingBox data. More...
 
virtual BoundingBoxType Type () const
 Get the BoundingBox Type (Visible / Full) More...
 
- Public Member Functions inherited from BoundingBoxCamera
virtual ~BoundingBoxCamera ()
 Destructor. More...
 
- Public Member Functions inherited from Camera
virtual ~Camera ()
 Deconstructor. More...
 
virtual unsigned int AntiAliasing () const =0
 Get the level of anti-aliasing used during rendering. More...
 
virtual double AspectRatio () const =0
 Get the camera's aspect ratio. More...
 
virtual Image CreateImage () const =0
 Created an empty image buffer for capturing images. The resulting image will have sufficient memory allocated for subsequent calls to this camera's Capture function. However, any changes to this cameras properties may invalidate the condition. More...
 
virtual double FarClipPlane () const =0
 Get the camera's far clipping plane distance. More...
 
virtual math::Vector3d FollowOffset () const =0
 Get the follow offset vector in the frame specified at the time the follow target is set. More...
 
virtual double FollowPGain () const =0
 Get the camera follow movement P gain. More...
 
virtual NodePtr FollowTarget () const =0
 Get the target node being followed. More...
 
virtual math::Angle HFOV () const =0
 Get the camera's horizontal field-of-view. More...
 
virtual PixelFormat ImageFormat () const =0
 Get the image pixel format. If the image pixel format has not been set with a valid value, PF_UNKNOWN will be returned. More...
 
virtual unsigned int ImageHeight () const =0
 Get the image height in pixels. More...
 
virtual unsigned int ImageMemorySize () const =0
 Get the total image memory size in bytes. More...
 
virtual unsigned int ImageWidth () const =0
 Get the image width in pixels. More...
 
virtual double NearClipPlane () const =0
 Get the camera's near clipping plane distance. More...
 
virtual math::Matrix4d ProjectionMatrix () const =0
 Get the projection matrix for this camera. More...
 
virtual CameraProjectionType ProjectionType () const =0
 Get the projection type for this camera. More...
 
virtual unsigned int RenderPassCount () const =0
 Get the number of render passes applied to the camera. More...
 
virtual unsigned int RenderTextureGLId () const =0
 Get the OpenGL texture id associated with the render texture used by this camera. A valid id is returned only if the underlying render engine is OpenGL based. More...
 
virtual math::Vector3d TrackOffset () const =0
 Get the track offset vector in the frame specified at the time the track target is set. More...
 
virtual double TrackPGain () const =0
 Get the camera track rotation P gain. More...
 
virtual NodePtr TrackTarget () const =0
 Get the target node being tracked. More...
 
virtual math::Matrix4d ViewMatrix () const =0
 Get the view matrix for this camera. More...
 
- Public Member Functions inherited from Sensor
virtual ~Sensor ()
 Sensor. More...
 
virtual uint32_t VisibilityMask () const =0
 Get visibility mask. More...
 
- Public Member Functions inherited from Node
virtual ~Node ()
 Deconstructor. More...
 
virtual unsigned int ChildCount () const =0
 Get number of child nodes. More...
 
virtual math::Pose3d InitialLocalPose () const =0
 Get the initial local pose. More...
 
virtual math::Pose3d LocalPose () const =0
 Get the local pose. More...
 
virtual math::Vector3d LocalPosition () const =0
 Get the local position. More...
 
virtual math::Quaterniond LocalRotation () const =0
 Get the local rotation. More...
 
virtual math::Vector3d Origin () const =0
 Get position of origin. More...
 
virtual math::Pose3d WorldPose () const =0
 Get the world pose. More...
 
virtual math::Vector3d WorldPosition () const =0
 Get the world position. More...
 
virtual math::Quaterniond WorldRotation () const =0
 Get the world rotation. More...
 
virtual math::Vector3d WorldScale () const =0
 Get the world scale. More...
 
- Public Member Functions inherited from Object
virtual ~Object ()
 Destructor. More...
 
virtual unsigned int Id () const =0
 Get the object ID. This ID will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...
 
virtual std::string Name () const =0
 Get the object name. This name will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...
 
virtual ScenePtr Scene () const =0
 Get the Scene that created this object. More...
 
- Public Member Functions inherited from BaseCamera< Ogre2Sensor >
virtual ~BaseCamera ()
 
virtual void AddRenderPass (const RenderPassPtr &_pass) override
 Add a render pass to the camera. More...
 
virtual unsigned int AntiAliasing () const override
 Get the level of anti-aliasing used during rendering. More...
 
virtual double AspectRatio () const override
 Get the camera's aspect ratio. More...
 
virtual void Capture (Image &_image) override
 Renders a new frame and writes the results to the given image. This is a convenience function for single-camera scenes. It wraps the pre-render, render, post-render, and get-image calls into a single function. This should be used in applications with multiple cameras or multiple consumers of a single camera's images. More...
 
virtual common::ConnectionPtr ConnectNewImageFrame (Camera::NewFrameListener _listener) override
 Subscribes a new listener to this camera's new frame event. More...
 
virtual void Copy (Image &_image) const override
 Writes the last rendered image to the given image buffer. This function can be called multiple times after PostRender has been called, without rendering the scene again. Calling this function before a single image has been rendered will have undefined behavior. More...
 
virtual Image CreateImage () const override
 Created an empty image buffer for capturing images. The resulting image will have sufficient memory allocated for subsequent calls to this camera's Capture function. However, any changes to this cameras properties may invalidate the condition. More...
 
virtual RenderWindowPtr CreateRenderWindow () override
 Create a render window. More...
 
virtual double FarClipPlane () const override
 Get the camera's far clipping plane distance. More...
 
virtual math::Vector3d FollowOffset () const override
 Get the follow offset vector in the frame specified at the time the follow target is set. More...
 
virtual double FollowPGain () const override
 Get the camera follow movement P gain. More...
 
virtual NodePtr FollowTarget () const override
 Get the target node being followed. More...
 
virtual math::Angle HFOV () const override
 Get the camera's horizontal field-of-view. More...
 
virtual PixelFormat ImageFormat () const override
 Get the image pixel format. If the image pixel format has not been set with a valid value, PF_UNKNOWN will be returned. More...
 
virtual unsigned int ImageHeight () const override
 Get the image height in pixels. More...
 
virtual unsigned int ImageMemorySize () const override
 Get the total image memory size in bytes. More...
 
virtual unsigned int ImageWidth () const override
 Get the image width in pixels. More...
 
virtual double NearClipPlane () const override
 Get the camera's near clipping plane distance. More...
 
virtual math::Vector2i Project (const math::Vector3d &_pt) const override
 Project point in 3d world space to 2d screen space. More...
 
virtual math::Matrix4d ProjectionMatrix () const override
 Get the projection matrix for this camera. More...
 
virtual CameraProjectionType ProjectionType () const override
 Get the projection type for this camera. More...
 
virtual void RemoveRenderPass (const RenderPassPtr &_pass) override
 Remove a render pass from the camera. More...
 
virtual RenderPassPtr RenderPassByIndex (unsigned int _index) const override
 Get a render passes by index. More...
 
virtual unsigned int RenderPassCount () const override
 Get the number of render passes applied to the camera. More...
 
virtual unsigned int RenderTextureGLId () const override
 Get the OpenGL texture id associated with the render texture used by this camera. A valid id is returned only if the underlying render engine is OpenGL based. More...
 
virtual bool SaveFrame (const std::string &_name) override
 Writes the previously rendered frame to a file. This function can be called multiple times after PostRender has been called, without rendering the scene again. Calling this function before a single image has been rendered will have undefined behavior. More...
 
virtual void SetAntiAliasing (const unsigned int _aa) override
 Set the level of anti-aliasing used during rendering. If a value of 0 is given, no anti-aliasing will be performed. Higher values can significantly slow-down rendering times, depending on the underlying render engine. More...
 
virtual void SetAspectRatio (const double _ratio) override
 Set the camera's aspect ratio. This value determines the cameras vertical field-of-view. It is often the. More...
 
virtual void SetFarClipPlane (const double _far) override
 Set the camera's far clipping plane distance. More...
 
virtual void SetFollowOffset (const math::Vector3d &_offset) override
 Set offset of camera from target node being followed. The offset will be in the frame that is specified at the time the follow target is set. More...
 
virtual void SetFollowPGain (const double _pGain) override
 Set follow P Gain. Determines how fast the camera moves to follow the target node. Valid range: [0-1]. More...
 
virtual void SetFollowTarget (const NodePtr &_target, const math::Vector3d &_Offset, const bool _worldFrame) override
 Set a node for camera to follow. The camera will automatically update its position to keep itself at the specified offset distance from the target being followed. If null is specified, camera follow is disabled. In contrast to SetTrackTarget, the camera does not change its orientation when following is enabled. More...
 
virtual void SetHFOV (const math::Angle &_hfov) override
 Set the camera's horizontal field-of-view. More...
 
virtual void SetImageFormat (PixelFormat _format) override
 Set the image pixel format. More...
 
virtual void SetImageHeight (const unsigned int _height) override
 Set the image height in pixels. More...
 
virtual void SetImageWidth (const unsigned int _width) override
 Set the image width in pixels. More...
 
virtual void SetMaterial (const MaterialPtr &_material) override
 Set a material that the camera should see on all objects. More...
 
virtual void SetNearClipPlane (const double _near) override
 Set the camera's near clipping plane distance. More...
 
virtual void SetProjectionMatrix (const math::Matrix4d &_matrix) override
 Set the projection matrix for this camera. This overrides the standard projection matrix computed based on camera parameters. More...
 
virtual void SetProjectionType (CameraProjectionType _type) override
 Set the projection type for this camera This changes the projection matrix of the camera based on the camera projection type. A custom projection matrix can be specified via SetProjectionMatrix to override the provided one. To disable the custom projection matrix, just call this function again with the desired projection type. More...
 
virtual void SetShadowsDirty () override
 
virtual void SetTrackOffset (const math::Vector3d &_offset) override
 Set track offset. Camera will track a point that's at an offset from the target node. The offset will be in the frame that is specified at the time the track target is set. More...
 
virtual void SetTrackPGain (const double _pGain) override
 Set track P Gain. Determines how fast the camera rotates to look at the target node. Valid range: [0-1]. More...
 
virtual void SetTrackTarget (const NodePtr &_target, const math::Vector3d &_offset, const bool _worldFrame) override
 Set a node for camera to track. The camera will automatically change its orientation to face the target being tracked. If null is specified, tracking is disabled. In contrast to SetFollowTarget the camera does not change its position when tracking is enabled. More...
 
virtual math::Vector3d TrackOffset () const override
 Get the track offset vector in the frame specified at the time the track target is set. More...
 
virtual double TrackPGain () const override
 Get the camera track rotation P gain. More...
 
virtual NodePtr TrackTarget () const override
 Get the target node being tracked. More...
 
virtual void Update () override
 Renders a new frame. This is a convenience function for single-camera scenes. It wraps the pre-render, render, and post-render into a single function. This should be used in applications with multiple cameras or multiple consumers of a single camera's images. More...
 
virtual math::Matrix4d ViewMatrix () const override
 Get the view matrix for this camera. More...
 
virtual VisualPtr VisualAt (const gz::math::Vector2i &_mousePos) override
 Get the visual for a given mouse position param[in] _mousePos mouse position. More...
 
- Public Member Functions inherited from Ogre2Sensor
virtual ~Ogre2Sensor ()
 Destructor. More...
 
- Public Member Functions inherited from BaseSensor< Ogre2Node >
virtual ~BaseSensor ()
 
virtual void SetVisibilityMask (uint32_t _mask) override
 Set visibility mask. More...
 
virtual uint32_t VisibilityMask () const override
 Get visibility mask. More...
 
- Public Member Functions inherited from Ogre2Node
virtual ~Ogre2Node ()
 Destructor. More...
 
virtual bool HasParent () const override
 Determine if this Node is attached to another Node. More...
 
virtual bool InheritScale () const override
 Determine if this visual inherits scale from this parent. More...
 
virtual math::Vector3d LocalScale () const override
 Get the local scale. More...
 
virtual Ogre::SceneNode * Node () const
 Get a pointer to the underlying scene node. More...
 
virtual NodePtr Parent () const override
 Get the parent Node. More...
 
virtual void SetInheritScale (bool _inherit) override
 Specify if this visual inherits scale from its parent. More...
 
- Public Member Functions inherited from BaseNode< Ogre2Object >
virtual ~BaseNode ()
 
virtual void AddChild (NodePtr _child) override
 Add the given node to this node. If the given node is already a child, no work will be done. More...
 
virtual NodePtr ChildById (unsigned int _id) const override
 Get node with given ID. If no child exists with given ID, NULL will be returned. More...
 
virtual NodePtr ChildByIndex (unsigned int _index) const override
 Get node at given index. If no child exists at given index, NULL will be returned. More...
 
virtual NodePtr ChildByName (const std::string &_name) const override
 Get node with given name. If no child exists with given name, NULL will be returned. More...
 
virtual unsigned int ChildCount () const override
 Get number of child nodes. More...
 
virtual bool HasChild (ConstNodePtr _child) const override
 Determine if given node is an attached child. More...
 
virtual bool HasChildId (unsigned int _id) const override
 Determine if node with given ID is an attached child. More...
 
virtual bool HasChildName (const std::string &_name) const override
 Determine if node with given name is an attached child. More...
 
virtual bool HasUserData (const std::string &_key) const override
 Check if node has custom data. More...
 
virtual bool InheritScale () const override=0
 Determine if this visual inherits scale from this parent. More...
 
virtual math::Pose3d InitialLocalPose () const override
 Get the initial local pose. More...
 
virtual math::Pose3d LocalPose () const override
 Get the local pose. More...
 
virtual math::Vector3d LocalPosition () const override
 Get the local position. More...
 
virtual math::Quaterniond LocalRotation () const override
 Get the local rotation. More...
 
virtual math::Vector3d LocalScale () const override=0
 Get the local scale. More...
 
virtual math::Vector3d Origin () const override
 Get position of origin. More...
 
virtual NodePtr Parent () const override=0
 Get the parent Node. More...
 
virtual NodePtr RemoveChild (NodePtr _child) override
 Remove (detach) the given node from this node. If the given node is not a child of this node, no work will be done. More...
 
virtual NodePtr RemoveChildById (unsigned int _id) override
 Remove (detach) the node with the given ID from this node. If the specified node is not a child of this node, no work will be done. More...
 
virtual NodePtr RemoveChildByIndex (unsigned int _index) override
 Remove (detach) the node at the given index from this node. If the specified node is not a child of this node, no work will be done. More...
 
virtual NodePtr RemoveChildByName (const std::string &_name) override
 Remove (detach) the node with the given name from this node. If the specified node is not a child of this node, no work will be done. More...
 
virtual void RemoveChildren () override
 Remove all child nodes from this node This detaches all the child nodes but does not destroy them. More...
 
virtual void RemoveParent () override
 Detach this Node from its parent. If this Node does not have a parent, no work will be done. More...
 
virtual void Scale (const math::Vector3d &_scale) override
 Scale the current scale by the given scalars. More...
 
virtual void Scale (double _scale) override
 Scale the current scale by the given scalar. The given scalar will be assigned to the x, y, and z coordinates. More...
 
virtual void Scale (double _x, double _y, double _z) override
 Scale the current scale by the given scalars. More...
 
virtual void SetLocalPose (const math::Pose3d &_pose) override
 Set the local pose. More...
 
virtual void SetLocalPosition (const math::Vector3d &_position) override
 Set the local position. More...
 
virtual void SetLocalPosition (double _x, double _y, double _z) override
 Set the local position. More...
 
virtual void SetLocalRotation (const math::Quaterniond &_rotation) override
 Set the local rotation. More...
 
virtual void SetLocalRotation (double _r, double _p, double _y) override
 Set the local rotation. More...
 
virtual void SetLocalRotation (double _w, double _x, double _y, double _z) override
 Set the local rotation. More...
 
virtual void SetLocalScale (const math::Vector3d &_scale) override
 Set the local scale. More...
 
virtual void SetLocalScale (double _scale) override
 Set the local scale. The given scale will be assigned to the x, y, and z coordinates. More...
 
virtual void SetLocalScale (double _x, double _y, double _z) override
 Set the local scale. More...
 
virtual void SetOrigin (const math::Vector3d &_origin) override
 Set position of origin. The position should be relative to the original origin of the geometry. More...
 
virtual void SetOrigin (double _x, double _y, double _z) override
 Set position of origin. The position should be relative to the original origin of the geometry. More...
 
virtual void SetUserData (const std::string &_key, Variant _value) override
 Store any custom data associated with this node. More...
 
virtual void SetWorldPose (const math::Pose3d &_pose) override
 Set the world pose. More...
 
virtual void SetWorldPosition (const math::Vector3d &_position) override
 Set the world position. More...
 
virtual void SetWorldPosition (double _x, double _y, double _z) override
 Set the world position. More...
 
virtual void SetWorldRotation (const math::Quaterniond &_rotation) override
 Set the world rotation. More...
 
virtual void SetWorldRotation (double _r, double _p, double _y) override
 Set the world rotation. More...
 
virtual void SetWorldRotation (double _w, double _x, double _y, double _z) override
 Set the world rotation. More...
 
virtual void SetWorldScale (const math::Vector3d &_scale) override
 Set the world scale. More...
 
virtual void SetWorldScale (double _scale) override
 Set the world scale. The given scale will be assigned to the x, y, and z coordinates. More...
 
virtual void SetWorldScale (double _x, double _y, double _z) override
 Set the world scale. More...
 
virtual Variant UserData (const std::string &_key) const override
 Get custom data stored in this node. More...
 
virtual math::Pose3d WorldPose () const override
 Get the world pose. More...
 
virtual math::Vector3d WorldPosition () const override
 Get the world position. More...
 
virtual math::Quaterniond WorldRotation () const override
 Get the world rotation. More...
 
virtual math::Vector3d WorldScale () const override
 Get the world scale. More...
 
virtual math::Pose3d WorldToLocal (const math::Pose3d &_pose) const override
 Convert given world pose to local pose. More...
 
- Public Member Functions inherited from Ogre2Object
virtual ~Ogre2Object ()
 Destructor. More...
 
virtual ScenePtr Scene () const override
 
- Public Member Functions inherited from BaseObject
virtual ~BaseObject ()
 
virtual unsigned int Id () const override
 
virtual std::string Name () const override
 

Protected Member Functions

 Ogre2BoundingBoxCamera ()
 Constructor. More...
 
virtual RenderTargetPtr RenderTarget () const override
 Get a pointer to the render target. More...
 
- Protected Member Functions inherited from BaseBoundingBoxCamera< Ogre2Sensor >
 BaseBoundingBoxCamera ()
 Constructor. More...
 
- Protected Member Functions inherited from BaseCamera< Ogre2Sensor >
 BaseCamera ()
 
virtual void * CreateImageBuffer () const
 
virtual void Load () override
 
virtual RenderTargetPtr RenderTarget () const=0
 
virtual void Reset ()
 
- Protected Member Functions inherited from Ogre2Sensor
 Ogre2Sensor ()
 Constructor. More...
 
- Protected Member Functions inherited from BaseSensor< Ogre2Node >
 BaseSensor ()
 
- Protected Member Functions inherited from Ogre2Node
 Ogre2Node ()
 Constructor. More...
 
virtual bool AttachChild (NodePtr _child) override
 
virtual NodeStorePtr Children () const override
 
virtual bool DetachChild (NodePtr _child) override
 
virtual math::Pose3d RawLocalPose () const override
 
virtual math::Vector3d RawLocalPosition () const
 Get the raw local position of the node. More...
 
virtual math::Quaterniond RawLocalRotation () const
 Get the raw local rotation of the node. More...
 
virtual void SetLocalScaleImpl (const math::Vector3d &_scale) override
 Implementation of the SetLocalScale function. More...
 
virtual void SetParent (Ogre2NodePtr _parent)
 Set the parent node. More...
 
virtual void SetRawLocalPose (const math::Pose3d &_Pose3d) override
 
virtual void SetRawLocalPosition (const math::Vector3d &_position)
 Set the raw local position of the node. More...
 
virtual void SetRawLocalRotation (const math::Quaterniond &_rotation)
 Set the raw local rotation of the node. More...
 
- Protected Member Functions inherited from BaseNode< Ogre2Object >
 BaseNode ()
 
virtual NodeStorePtr Children () const=0
 
virtual void PreRenderChildren ()
 
virtual math::Pose3d RawLocalPose () const=0
 
- Protected Member Functions inherited from Ogre2Object
 Ogre2Object ()
 Constructor. More...
 
- Protected Member Functions inherited from BaseObject
 BaseObject ()
 

Additional Inherited Members

- Public Types inherited from Camera
typedef std::function< void(const void *, unsigned int, unsigned int, unsigned int, const std::string &)> NewFrameListener
 Callback function for new frame render event listeners. More...
 
- Protected Attributes inherited from BaseBoundingBoxCamera< Ogre2Sensor >
std::vector< BoundingBoxboundingBoxes
 The bounding box data. More...
 
BoundingBoxType type
 The bounding box type. More...
 
- Protected Attributes inherited from BaseCamera< Ogre2Sensor >
unsigned int antiAliasing
 Anti-aliasing. More...
 
double aspect
 Aspect ratio. More...
 
double farClip
 Far clipping plane distance. More...
 
NodePtr followNode
 Target node to follow. More...
 
math::Vector3d followOffset
 Offset distance between camera and target node being followed. More...
 
double followPGain
 P gain for follow mode. Determines how fast the camera moves to follow the target node. Valid range: [0-1]. More...
 
bool followWorldFrame
 Follow target in world frame. More...
 
math::Angle hfov
 Horizontal camera field of view. More...
 
ImagePtr imageBuffer
 
double nearClip
 Near clipping plane distance. More...
 
common::EventT< void(const void *, unsigned int, unsigned int, unsigned int, const std::string &)> newFrameEvent
 
math::Matrix4d projectionMatrix
 Custom projection matrix. More...
 
CameraProjectionType projectionType
 Camera projection type. More...
 
NodePtr trackNode
 Target node to track if camera tracking is on. More...
 
math::Vector3d trackOffset
 Set camera to track a point offset in target node's local or world frame depending on trackWorldFrame. More...
 
double trackPGain
 P gain for tracking. Determines how fast the camera rotates to look at the target node. Valid range: [0-1]. More...
 
bool trackWorldFrame
 Track point relative to target in world frame. More...
 
- Protected Attributes inherited from BaseSensor< Ogre2Node >
uint32_t visibilityMask
 Camera's visibility mask. More...
 
- Protected Attributes inherited from Ogre2Node
Ogre2NodeStorePtr children
 A list of child nodes. More...
 
Ogre::SceneNode * ogreNode = nullptr
 The underlying ogre scene node. More...
 
Ogre2NodePtr parent
 Pointer to the parent ogre node. More...
 
- Protected Attributes inherited from BaseNode< Ogre2Object >
ignition::math::Pose3d initialLocalPose
 Initial local pose for this node. More...
 
bool initialLocalPoseSet
 Flag to indicate whether initial local pose is set for this node. More...
 
math::Vector3d origin
 
std::map< std::string, VariantuserData
 A map of custom key value data. More...
 
- Protected Attributes inherited from Ogre2Object
Ogre2ScenePtr scene
 Pointer to the ogre scene. More...
 
- Protected Attributes inherited from BaseObject
unsigned int id
 
std::string name
 

Detailed Description

BoundingBox camera used to detect 2d / 3d bounding boxes of labeled objects in the scene.

Constructor & Destructor Documentation

◆ Ogre2BoundingBoxCamera()

Ogre2BoundingBoxCamera ( )
protected

Constructor.

◆ ~Ogre2BoundingBoxCamera()

virtual ~Ogre2BoundingBoxCamera ( )
virtual

Destructor.

Member Function Documentation

◆ BoundingBoxData()

virtual const std::vector<BoundingBox>& BoundingBoxData ( ) const
overridevirtual

Get the BoundingBox data.

Returns
Buffer of bounding boxes info (label, minX, minY, maxX, maxY). If the camera's bounding box type is 3D, minZ and maxZ are also defined)

Implements BoundingBoxCamera.

◆ BoundingBoxes3D()

void BoundingBoxes3D ( )

Compute the 3D bounding boxes.

◆ ConnectNewBoundingBoxes()

virtual ignition::common::ConnectionPtr ConnectNewBoundingBoxes ( std::function< void(const std::vector< BoundingBox > &)>  _subscriber)
overridevirtual

Connect to the new BoundingBox info.

Parameters
[in]_subscriberSubscriber callback function
Returns
Pointer to the new Connection. This must be kept in scope

Implements BaseBoundingBoxCamera< Ogre2Sensor >.

◆ ConvertToScreenCoord()

void ConvertToScreenCoord ( Ogre::Vector3 &  _minVertex,
Ogre::Vector3 &  _maxVertex 
) const

Convert from clip coord (after projection) to screen coord.

Parameters
[in,out]_minVertexmin vertex in clip coord to screen coord
[in,out]_maxVertexmax vertex in clip coord to screen coord

◆ CreateBoundingBoxTexture()

void CreateBoundingBoxTexture ( )

Create texture to hold ogre Ids to calculate the boundaries of each ogre id mask.

◆ CreateRenderTexture()

void CreateRenderTexture ( )

Create dummy render texture. Needed to satisfy inheritance and to set image's dims.

◆ Destroy()

virtual void Destroy ( )
overridevirtual

Destroy the camera.

Reimplemented from Ogre2Node.

◆ DrawBoundingBox()

virtual void DrawBoundingBox ( unsigned char *  _data,
const math::Color _color,
const BoundingBox _box 
) const
overridevirtual

Draw a bounding box on the given image.

Parameters
[in]_databuffer containing the image data
[in]_colorColor of the bounding box to be drawn
[in]_boxbounding box to be drawn

Implements BaseBoundingBoxCamera< Ogre2Sensor >.

◆ DrawLine()

void DrawLine ( unsigned char *  _data,
const math::Vector2i _point1,
const math::Vector2i _point2,
const ignition::math::Color _color 
) const

Draw line between any 2 points in the image data buffer Algorithm: https://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm.

Parameters
[in]_databuffer contains the image data
[in]_point1The 1st 2D point in screen coordinates
[in]_point2The 2nd 2D point in screen coordinates
[in]_colorThe color of the line

◆ FullBoundingBoxes()

void FullBoundingBoxes ( )

Compute the full bounding boxes by projecting all mesh vertices of each object, then get the min & max of x & y to get the full bbox. Check the visibility by looping over pixels of the ogre Ids map.

◆ Init()

virtual void Init ( )
overridevirtual

Initialize the camera.

Reimplemented from Ogre2Node.

◆ MarkVisibleBoxes()

void MarkVisibleBoxes ( )

Mark the visible boxes by checking the ogre ids map and mark the ogre id which appears in the map.

◆ MeshMinimalBox()

void MeshMinimalBox ( const Ogre::MeshPtr  _mesh,
const Ogre::Matrix4 &  _viewMatrix,
const Ogre::Matrix4 &  _projMatrix,
Ogre::Vector3 &  _minVertex,
Ogre::Vector3 &  _maxVertex,
const Ogre::Vector3 &  _position,
const Ogre::Quaternion &  _orientation,
const Ogre::Vector3 &  _scale 
)

Get minimal bounding box of the mesh by projecting the 3d vertices of the vertex buffer to 2d, then get the min & max of x & y.

Parameters
[in]_meshMesh of the item to get its minimal bbox
[in]_viewMatrixCamera view matrix
[in]_projMatrixCamera projection matrix
[out]_minVertexMinimum of projected x & y & z of the vertices
[out]_maxVertexMaximum of projected x & y & z of the vertices
[in]_positionposition of the item in the world space
[in]_orientationrotation of the item
[in]_scalescale of the item

◆ PostRender()

virtual void PostRender ( )
overridevirtual

Preforms any necessary final rendering work. Once rendering is complete the camera will alert any listeners of the new frame event. This function should only be called after a call to Render has successfully been executed.

Reimplemented from BaseCamera< Ogre2Sensor >.

◆ PreRender()

virtual void PreRender ( )
overridevirtual

Prepare this object and any of its children for rendering. This should be called for each object in a scene just before rendering, which can be achieved by a single call to Scene::PreRender.

Reimplemented from BaseCamera< Ogre2Sensor >.

◆ Render()

virtual void Render ( )
overridevirtual

Renders the current scene using this camera. This function assumes PreRender() has already been called on the parent Scene, allowing the camera and the scene itself to prepare for rendering.

Implements Camera.

◆ RenderTarget()

virtual RenderTargetPtr RenderTarget ( ) const
overrideprotectedvirtual

Get a pointer to the render target.

Returns
Pointer to the render target

◆ SetBoundingBoxType()

virtual void SetBoundingBoxType ( BoundingBoxType  _type)
overridevirtual

Set BoundingBox Type (Visible / Full)

Parameters
[in]_typeBoundingBox Type (Visible / Full)

Reimplemented from BaseBoundingBoxCamera< Ogre2Sensor >.

◆ Type()

virtual BoundingBoxType Type ( ) const
overridevirtual

Get the BoundingBox Type (Visible / Full)

Returns
BoundingBox Type (Visible / Full)

Implements BoundingBoxCamera.

◆ VisibleBoundingBoxes()

void VisibleBoundingBoxes ( )

Compute the visible bounding boxes by looping over pixels of the ogre Ids map, to get the boundaries of each unique ogre Id mask.


The documentation for this class was generated from the following file: